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<h1>src/qvsfm/laSBA/sba-1.6/sba.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00020"></a>00020 <span class="comment">*/</span>
<a name="l00021"></a>00021 
<a name="l00022"></a>00022 <span class="comment">//#define SAVE_REDUCED_MATRIX</span>
<a name="l00023"></a>00023 
<a name="l00024"></a>00024 <span class="preprocessor">#ifndef _SBA_H_</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#define _SBA_H_</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span>
<a name="l00027"></a>00027 <span class="comment">/**************************** Start of configuration options ****************************/</span>
<a name="l00028"></a>00028 
<a name="l00029"></a>00029 <span class="comment">/* define the following if a trailing underscore should be appended to lapack functions names */</span>
<a name="l00030"></a>00030 <span class="preprocessor">#define SBA_APPEND_UNDERSCORE_SUFFIX // undef this for AIX</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="comment">/* define this to make linear solver routines use the minimum amount of memory</span>
<a name="l00034"></a>00034 <span class="comment"> * possible. This lowers the memory requirements of large BA problems but will</span>
<a name="l00035"></a>00035 <span class="comment"> * most likely induce a penalty on performance</span>
<a name="l00036"></a>00036 <span class="comment"> */</span>
<a name="l00037"></a>00037 <span class="comment">/*#define SBA_LS_SCARCE_MEMORY */</span>
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 
<a name="l00040"></a>00040 <span class="comment">/* define this to save some memory by storing the weight matrices for the image</span>
<a name="l00041"></a>00041 <span class="comment"> * projections (i.e. wght in the expert drivers) into the memory containing their</span>
<a name="l00042"></a>00042 <span class="comment"> * covariances (i.e. covx arg). Note that this overwrites covx, making changes</span>
<a name="l00043"></a>00043 <span class="comment"> * noticeable by the caller</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a>00045 <span class="comment">/*#define SBA_DESTROY_COVS */</span>
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 
<a name="l00048"></a>00048 <span class="comment">/********* End of configuration options, no changes necessary beyond this point *********/</span>
<a name="l00049"></a>00049 
<a name="l00050"></a>00050 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {
<a name="l00052"></a>00052 <span class="preprocessor">#endif</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span>
<a name="l00054"></a>00054 <span class="preprocessor">#define SBA_MIN_DELTA     1E-06 // finite differentiation minimum delta</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define SBA_DELTA_SCALE   1E-04 // finite differentiation delta scale</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span>
<a name="l00057"></a>00057 <span class="preprocessor">#define SBA_OPTSSZ        5</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define SBA_INFOSZ        10</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define SBA_ERROR         -1</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#define SBA_INIT_MU       1E-03</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">#define SBA_STOP_THRESH   1E-12</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#define SBA_CG_NOPREC     0</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define SBA_CG_JACOBI     1</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define SBA_CG_SSOR       2</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">#define SBA_VERSION       &quot;1.6 (Aug. 2009)&quot;</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span>
<a name="l00067"></a>00067 
<a name="l00068"></a>00068 <span class="comment">/* Sparse matrix representation using Compressed Row Storage (CRS) format.</span>
<a name="l00069"></a>00069 <span class="comment"> * See http://www.netlib.org/linalg/html_templates/node91.html#SECTION00931100000000000000</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a>00071 
<a name="l00072"></a>00072 <span class="keyword">struct </span>sba_crsm{
<a name="l00073"></a>00073     <span class="keywordtype">int</span> nr, nc;   <span class="comment">/* #rows, #cols for the sparse matrix */</span>
<a name="l00074"></a>00074     <span class="keywordtype">int</span> nnz;      <span class="comment">/* number of nonzero array elements */</span>
<a name="l00075"></a>00075     <span class="keywordtype">int</span> *val;     <span class="comment">/* storage for nonzero array elements. size: nnz */</span>
<a name="l00076"></a>00076     <span class="keywordtype">int</span> *colidx;  <span class="comment">/* column indexes of nonzero elements. size: nnz */</span>
<a name="l00077"></a>00077     <span class="keywordtype">int</span> *rowptr;  <span class="comment">/* locations in val that start a row. size: nr+1.</span>
<a name="l00078"></a>00078 <span class="comment">                   * By convention, rowptr[nr]=nnz</span>
<a name="l00079"></a>00079 <span class="comment">                   */</span>
<a name="l00080"></a>00080 };
<a name="l00081"></a>00081 
<a name="l00082"></a>00082 <span class="comment">/* sparse LM */</span>
<a name="l00083"></a>00083 
<a name="l00084"></a>00084 <span class="comment">/* simple drivers */</span>
<a name="l00085"></a>00085 <span class="keyword">extern</span> <span class="keywordtype">int</span>
<a name="l00086"></a>00086 sba_motstr_levmar(<span class="keyword">const</span> <span class="keywordtype">int</span> n, <span class="keyword">const</span> <span class="keywordtype">int</span> ncon, <span class="keyword">const</span> <span class="keywordtype">int</span> m, <span class="keyword">const</span> <span class="keywordtype">int</span> mcon, <span class="keywordtype">char</span> *vmask,
<a name="l00087"></a>00087            <span class="keywordtype">double</span> *p, <span class="keyword">const</span> <span class="keywordtype">int</span> cnp, <span class="keyword">const</span> <span class="keywordtype">int</span> pnp, <span class="keywordtype">double</span> *x, <span class="keywordtype">double</span> *covx, <span class="keyword">const</span> <span class="keywordtype">int</span> mnp,
<a name="l00088"></a>00088            <span class="keywordtype">void</span> (*proj)(<span class="keywordtype">int</span> j, <span class="keywordtype">int</span> i, <span class="keywordtype">double</span> *aj, <span class="keywordtype">double</span> *bi, <span class="keywordtype">double</span> *xij, <span class="keywordtype">void</span> *adata),
<a name="l00089"></a>00089            <span class="keywordtype">void</span> (*projac)(<span class="keywordtype">int</span> j, <span class="keywordtype">int</span> i, <span class="keywordtype">double</span> *aj, <span class="keywordtype">double</span> *bi, <span class="keywordtype">double</span> *Aij, <span class="keywordtype">double</span> *Bij, <span class="keywordtype">void</span> *adata),
<a name="l00090"></a>00090            <span class="keywordtype">void</span> *adata, <span class="keyword">const</span> <span class="keywordtype">int</span> itmax, <span class="keyword">const</span> <span class="keywordtype">int</span> verbose, <span class="keyword">const</span> <span class="keywordtype">double</span> opts[SBA_OPTSSZ], <span class="keywordtype">double</span> info[SBA_INFOSZ]);
<a name="l00091"></a>00091 
<a name="l00092"></a>00092 <span class="keyword">extern</span> <span class="keywordtype">int</span>
<a name="l00093"></a>00093 sba_mot_levmar(<span class="keyword">const</span> <span class="keywordtype">int</span> n, <span class="keyword">const</span> <span class="keywordtype">int</span> m, <span class="keyword">const</span> <span class="keywordtype">int</span> mcon, <span class="keywordtype">char</span> *vmask, <span class="keywordtype">double</span> *p, <span class="keyword">const</span> <span class="keywordtype">int</span> cnp,
<a name="l00094"></a>00094            <span class="keywordtype">double</span> *x, <span class="keywordtype">double</span> *covx, <span class="keyword">const</span> <span class="keywordtype">int</span> mnp,
<a name="l00095"></a>00095            <span class="keywordtype">void</span> (*proj)(<span class="keywordtype">int</span> j, <span class="keywordtype">int</span> i, <span class="keywordtype">double</span> *aj, <span class="keywordtype">double</span> *xij, <span class="keywordtype">void</span> *adata),
<a name="l00096"></a>00096            <span class="keywordtype">void</span> (*projac)(<span class="keywordtype">int</span> j, <span class="keywordtype">int</span> i, <span class="keywordtype">double</span> *aj, <span class="keywordtype">double</span> *Aij, <span class="keywordtype">void</span> *adata),
<a name="l00097"></a>00097            <span class="keywordtype">void</span> *adata, <span class="keyword">const</span> <span class="keywordtype">int</span> itmax, <span class="keyword">const</span> <span class="keywordtype">int</span> verbose, <span class="keyword">const</span> <span class="keywordtype">double</span> opts[SBA_OPTSSZ], <span class="keywordtype">double</span> info[SBA_INFOSZ]);
<a name="l00098"></a>00098 
<a name="l00099"></a>00099 <span class="keyword">extern</span> <span class="keywordtype">int</span>
<a name="l00100"></a>00100 sba_str_levmar(<span class="keyword">const</span> <span class="keywordtype">int</span> n, <span class="keyword">const</span> <span class="keywordtype">int</span> ncon, <span class="keyword">const</span> <span class="keywordtype">int</span> m, <span class="keywordtype">char</span> *vmask, <span class="keywordtype">double</span> *p, <span class="keyword">const</span> <span class="keywordtype">int</span> pnp,
<a name="l00101"></a>00101            <span class="keywordtype">double</span> *x, <span class="keywordtype">double</span> *covx, <span class="keyword">const</span> <span class="keywordtype">int</span> mnp,
<a name="l00102"></a>00102            <span class="keywordtype">void</span> (*proj)(<span class="keywordtype">int</span> j, <span class="keywordtype">int</span> i, <span class="keywordtype">double</span> *bi, <span class="keywordtype">double</span> *xij, <span class="keywordtype">void</span> *adata),
<a name="l00103"></a>00103            <span class="keywordtype">void</span> (*projac)(<span class="keywordtype">int</span> j, <span class="keywordtype">int</span> i, <span class="keywordtype">double</span> *bi, <span class="keywordtype">double</span> *Bij, <span class="keywordtype">void</span> *adata),
<a name="l00104"></a>00104            <span class="keywordtype">void</span> *adata, <span class="keyword">const</span> <span class="keywordtype">int</span> itmax, <span class="keyword">const</span> <span class="keywordtype">int</span> verbose, <span class="keyword">const</span> <span class="keywordtype">double</span> opts[SBA_OPTSSZ], <span class="keywordtype">double</span> info[SBA_INFOSZ]);
<a name="l00105"></a>00105 
<a name="l00106"></a>00106 
<a name="l00107"></a>00107 <span class="comment">/* expert drivers */</span>
<a name="l00108"></a>00108 <span class="keyword">extern</span> <span class="keywordtype">int</span>
<a name="l00109"></a>00109 sba_motstr_levmar_x(<span class="keyword">const</span> <span class="keywordtype">int</span> n, <span class="keyword">const</span> <span class="keywordtype">int</span> ncon, <span class="keyword">const</span> <span class="keywordtype">int</span> m, <span class="keyword">const</span> <span class="keywordtype">int</span> mcon, <span class="keywordtype">char</span> *vmask, <span class="keywordtype">double</span> *p,
<a name="l00110"></a>00110            <span class="keyword">const</span> <span class="keywordtype">int</span> cnp, <span class="keyword">const</span> <span class="keywordtype">int</span> pnp, <span class="keywordtype">double</span> *x, <span class="keywordtype">double</span> *covx, <span class="keyword">const</span> <span class="keywordtype">int</span> mnp,
<a name="l00111"></a>00111            <span class="keywordtype">void</span> (*func)(<span class="keywordtype">double</span> *p, <span class="keyword">struct</span> sba_crsm *idxij, <span class="keywordtype">int</span> *rcidxs, <span class="keywordtype">int</span> *rcsubs, <span class="keywordtype">double</span> *hx, <span class="keywordtype">void</span> *adata),
<a name="l00112"></a>00112            <span class="keywordtype">void</span> (*fjac)(<span class="keywordtype">double</span> *p, <span class="keyword">struct</span> sba_crsm *idxij, <span class="keywordtype">int</span> *rcidxs, <span class="keywordtype">int</span> *rcsubs, <span class="keywordtype">double</span> *jac, <span class="keywordtype">void</span> *adata),
<a name="l00113"></a>00113            <span class="keywordtype">void</span> *adata, <span class="keyword">const</span> <span class="keywordtype">int</span> itmax, <span class="keyword">const</span> <span class="keywordtype">int</span> verbose, <span class="keyword">const</span> <span class="keywordtype">double</span> opts[SBA_OPTSSZ], <span class="keywordtype">double</span> info[SBA_INFOSZ]);
<a name="l00114"></a>00114 
<a name="l00115"></a>00115 <span class="keyword">extern</span> <span class="keywordtype">int</span>
<a name="l00116"></a>00116 sba_mot_levmar_x(<span class="keyword">const</span> <span class="keywordtype">int</span> n, <span class="keyword">const</span> <span class="keywordtype">int</span> m, <span class="keyword">const</span> <span class="keywordtype">int</span> mcon, <span class="keywordtype">char</span> *vmask, <span class="keywordtype">double</span> *p, <span class="keyword">const</span> <span class="keywordtype">int</span> cnp,
<a name="l00117"></a>00117            <span class="keywordtype">double</span> *x, <span class="keywordtype">double</span> *covx, <span class="keyword">const</span> <span class="keywordtype">int</span> mnp,
<a name="l00118"></a>00118            <span class="keywordtype">void</span> (*func)(<span class="keywordtype">double</span> *p, <span class="keyword">struct</span> sba_crsm *idxij, <span class="keywordtype">int</span> *rcidxs, <span class="keywordtype">int</span> *rcsubs, <span class="keywordtype">double</span> *hx, <span class="keywordtype">void</span> *adata),
<a name="l00119"></a>00119            <span class="keywordtype">void</span> (*fjac)(<span class="keywordtype">double</span> *p, <span class="keyword">struct</span> sba_crsm *idxij, <span class="keywordtype">int</span> *rcidxs, <span class="keywordtype">int</span> *rcsubs, <span class="keywordtype">double</span> *jac, <span class="keywordtype">void</span> *adata),
<a name="l00120"></a>00120            <span class="keywordtype">void</span> *adata, <span class="keyword">const</span> <span class="keywordtype">int</span> itmax, <span class="keyword">const</span> <span class="keywordtype">int</span> verbose, <span class="keyword">const</span> <span class="keywordtype">double</span> opts[SBA_OPTSSZ], <span class="keywordtype">double</span> info[SBA_INFOSZ]);
<a name="l00121"></a>00121 
<a name="l00122"></a>00122 <span class="keyword">extern</span> <span class="keywordtype">int</span>
<a name="l00123"></a>00123 sba_str_levmar_x(<span class="keyword">const</span> <span class="keywordtype">int</span> n, <span class="keyword">const</span> <span class="keywordtype">int</span> ncon, <span class="keyword">const</span> <span class="keywordtype">int</span> m, <span class="keywordtype">char</span> *vmask, <span class="keywordtype">double</span> *p, <span class="keyword">const</span> <span class="keywordtype">int</span> pnp,
<a name="l00124"></a>00124            <span class="keywordtype">double</span> *x, <span class="keywordtype">double</span> *covx, <span class="keyword">const</span> <span class="keywordtype">int</span> mnp,
<a name="l00125"></a>00125            <span class="keywordtype">void</span> (*func)(<span class="keywordtype">double</span> *p, <span class="keyword">struct</span> sba_crsm *idxij, <span class="keywordtype">int</span> *rcidxs, <span class="keywordtype">int</span> *rcsubs, <span class="keywordtype">double</span> *hx, <span class="keywordtype">void</span> *adata),
<a name="l00126"></a>00126            <span class="keywordtype">void</span> (*fjac)(<span class="keywordtype">double</span> *p, <span class="keyword">struct</span> sba_crsm *idxij, <span class="keywordtype">int</span> *rcidxs, <span class="keywordtype">int</span> *rcsubs, <span class="keywordtype">double</span> *jac, <span class="keywordtype">void</span> *adata),
<a name="l00127"></a>00127            <span class="keywordtype">void</span> *adata, <span class="keyword">const</span> <span class="keywordtype">int</span> itmax, <span class="keyword">const</span> <span class="keywordtype">int</span> verbose, <span class="keyword">const</span> <span class="keywordtype">double</span> opts[SBA_OPTSSZ], <span class="keywordtype">double</span> info[SBA_INFOSZ]);
<a name="l00128"></a>00128 
<a name="l00129"></a>00129 
<a name="l00130"></a>00130 <span class="comment">/* interfaces to LAPACK routines: solution of linear systems, matrix inversion, cholesky of inverse */</span>
<a name="l00131"></a>00131 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_QR(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> iscolmaj);
<a name="l00132"></a>00132 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_QRnoQ(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> iscolmaj);
<a name="l00133"></a>00133 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_Chol(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> iscolmaj);
<a name="l00134"></a>00134 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_LDLt(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> iscolmaj);
<a name="l00135"></a>00135 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_LU(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> iscolmaj);
<a name="l00136"></a>00136 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_SVD(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> iscolmaj);
<a name="l00137"></a>00137 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_BK(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> iscolmaj);
<a name="l00138"></a>00138 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_Axb_CG(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">double</span> *x, <span class="keywordtype">int</span> m, <span class="keywordtype">int</span> niter, <span class="keywordtype">double</span> eps, <span class="keywordtype">int</span> prec, <span class="keywordtype">int</span> iscolmaj);
<a name="l00139"></a>00139 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_symat_invert_LU(<span class="keywordtype">double</span> *A, <span class="keywordtype">int</span> m);
<a name="l00140"></a>00140 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_symat_invert_Chol(<span class="keywordtype">double</span> *A, <span class="keywordtype">int</span> m);
<a name="l00141"></a>00141 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_symat_invert_BK(<span class="keywordtype">double</span> *A, <span class="keywordtype">int</span> m);
<a name="l00142"></a>00142 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_mat_cholinv(<span class="keywordtype">double</span> *A, <span class="keywordtype">double</span> *B, <span class="keywordtype">int</span> m);
<a name="l00143"></a>00143 
<a name="l00144"></a>00144 <span class="comment">/* CRS sparse matrices manipulation routines */</span>
<a name="l00145"></a>00145 <span class="keyword">extern</span> <span class="keywordtype">void</span> sba_crsm_alloc(<span class="keyword">struct</span> sba_crsm *sm, <span class="keywordtype">int</span> nr, <span class="keywordtype">int</span> nc, <span class="keywordtype">int</span> nnz);
<a name="l00146"></a>00146 <span class="keyword">extern</span> <span class="keywordtype">void</span> sba_crsm_free(<span class="keyword">struct</span> sba_crsm *sm);
<a name="l00147"></a>00147 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_crsm_elmidx(<span class="keyword">struct</span> sba_crsm *sm, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j);
<a name="l00148"></a>00148 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_crsm_elmidxp(<span class="keyword">struct</span> sba_crsm *sm, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j, <span class="keywordtype">int</span> jp, <span class="keywordtype">int</span> jpidx);
<a name="l00149"></a>00149 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_crsm_row_elmidxs(<span class="keyword">struct</span> sba_crsm *sm, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> *vidxs, <span class="keywordtype">int</span> *jidxs);
<a name="l00150"></a>00150 <span class="keyword">extern</span> <span class="keywordtype">int</span> sba_crsm_col_elmidxs(<span class="keyword">struct</span> sba_crsm *sm, <span class="keywordtype">int</span> j, <span class="keywordtype">int</span> *vidxs, <span class="keywordtype">int</span> *iidxs);
<a name="l00151"></a>00151 <span class="comment">/* extern int sba_crsm_common_row(struct sba_crsm *sm, int j, int k); */</span>
<a name="l00152"></a>00152 
<a name="l00153"></a>00153 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00154"></a>00154 <span class="preprocessor"></span>}
<a name="l00155"></a>00155 <span class="preprocessor">#endif</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span>
<a name="l00157"></a>00157 <span class="preprocessor">#endif </span><span class="comment">/* _SBA_H_ */</span>
</pre></div></div>
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<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
<a href="http://perception.inf.um.es">PARP research group</a>.
Copyright &copy; 2007, 2008, 2009, 2010, 2011.</center>
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